Pure Pursuit - Group 2#7
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Please update these methods so that they work with your pure pursuit class
gradyw
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Dec 8, 2019
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| public static double[][] doubleArrayCopy(double[][] arr) // Method for copying matrices, something that comes up quite often. Credit to KHEngineering for method. | ||
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@sbanerjee13 do you understand why you use this instead of java's built in method to copy arrays?
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The built in method (Arrays.copyOf) only copies one-dimensional arrays. Thus, we need a separate algorithm for copying matrices.
gradyw
reviewed
Dec 8, 2019
| for(int j=0; j<path[i].length; j++) | ||
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| double aux = newPath[i][j]; | ||
| newPath[i][j] += weight_data * (path[i][j] - newPath[i][j]) + weight_smooth * (newPath[i-1][j] + newPath[i+1][j] - (2.0 * newPath[i][j])); |
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@sbanerjee13 it looks to me that this does not make sense and would always equal zero. Do you understand it?
(path[i][j] - newPath[i][j])
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